Improved feature stereo matching method based on binocular vision

A technology of stereo matching and binocular vision, which is applied in the field of three-dimensional perspective, can solve the problems of insufficient parallax accuracy, low matching rate of weak texture, and unsmooth continuous parallax, etc., to achieve the goal of improving parallax accuracy, reducing algorithm complexity, and simplifying calculations Effect

Pending Publication Date: 2022-01-04
XIAN UNIV OF TECH
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Problems solved by technology

For any matching algorithm, a complete structural process is required, including correct registration features, related attributes between features, and a stable matching process. However, the existing feature stereo matching methods can only obtain sparse disparity and weak texture matching. Low rate and insufficient parallax accuracy lead to problems such as unsmooth and step-like parallax continuity

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  • Improved feature stereo matching method based on binocular vision
  • Improved feature stereo matching method based on binocular vision
  • Improved feature stereo matching method based on binocular vision

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Embodiment Construction

[0068] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0069] The present invention is an improved feature stereo matching method based on binocular vision. The purpose is to solve the problems that the feature stereo matching method can only obtain sparse parallax, low matching rate of weak texture, and insufficient parallax precision, which leads to unsmooth and step-like parallax continuous parts. An improved feature stereo matching method is proposed. Finally, a more accurate and dense parallax is obtained, which improves the matching effect between weak texture areas and depth discontinuities and the overall parallax accuracy; at the same time, it has strong robustness and can suppress the influence of certain brightness differences and noise. The details are as follows Steps to implement:

[0070] like figure 1 Shown:

[0071] 1) Image preprocessing:

[0072] Collect images from differe...

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Abstract

The invention discloses an improved feature stereo matching method based on binocular vision. The method comprises the following steps: carrying out the feature extraction of a left image and a right image after preprocessing, carrying out the feature matching, and obtaining an accurate matching point pair through screening; the obtained sparse matching point pairs are used as seed points, a one-dimensional search space is established according to parallax continuity and epipolar constraint criteria, a fast zero mean normalized cross correlation coefficient simplified by an integrogram is used as a similarity measurement function, region growth is realized through a bidirectional matching strategy, and the algorithm complexity is reduced while the matching accuracy is greatly improved; through sub-pixel fitting and weighted median filtering post-processing, the parallax precision is improved, and parallax step layering, noise and stripe phenomena are removed.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional perspective, and in particular relates to an improved feature stereo matching method based on binocular vision. Background technique [0002] Binocular stereo vision is to simulate the human visual system to construct the real world. Stereo matching, as the key to technologies such as 3D reconstruction and non-contact ranging, is one of the core contents of binocular vision. Obtaining depth through two-dimensional images has the advantages of simple implementation, low cost, and distance measurement under non-contact conditions. It can be used for navigation judgment and target picking in robot guidance systems, and can be used for parts in industrial automation control systems. Installation, quality inspection, and environmental inspection can be used for people flow detection, hazard alarm, etc. in the security monitoring system. [0003] According to different matching primitives an...

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Application Information

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IPC IPC(8): G06K9/62
CPCG06F18/22
Inventor 胡辽林
Owner XIAN UNIV OF TECH
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